cmake_minimum_required(VERSION 3.8)
project(gripper_control)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

# 查找 jsoncpp
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP jsoncpp)

# 包含头文件目录
include_directories(include)

# 创建可执行文件
add_executable(gripper_communicator
    src/gripper_communicator.cpp
)

# 链接库
target_link_libraries(gripper_communicator
    ${JSONCPP_LIBRARIES}
)

# 链接 ROS2 包
ament_target_dependencies(gripper_communicator
    rclcpp
    std_msgs
)

# 安装
install(TARGETS 
  gripper_communicator
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include/
)

install(DIRECTORY
  config
  launch
  DESTINATION share/${PROJECT_NAME}/
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
